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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/72751完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏家鈺 | |
| dc.contributor.author | Kuan Shen | en |
| dc.contributor.author | 沈寬 | zh_TW |
| dc.date.accessioned | 2021-06-17T07:05:14Z | - |
| dc.date.available | 2019-08-18 | |
| dc.date.copyright | 2019-08-18 | |
| dc.date.issued | 2019 | |
| dc.date.submitted | 2019-07-26 | |
| dc.identifier.citation | [1] K. Fuchs, 'Minimally invasive surgery,' Endoscopy, vol. 34, no. 02, pp. 154-159, 2002.
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/72751 | - |
| dc.description.abstract | 微創手術有著出血量少與術後復原快速等優點，能夠減輕患者的痛苦，因此近年來在臨床使用上日益廣泛，然而微創手術的難度較傳統開腹手術高，造成外科醫師執行手術時較大的負擔。將機器手臂應用於微創手術中扮演輔助的角色，能夠減少醫師的工作量，並使手術過程更加精確且有效率。
本文旨在設計具備自動手術縫合功能之微創手術機器人系統。首先針對微創手術機器人設計基本控制架構，在遠端運動中心限制的前提下，能夠在腹腔內操作手術器械而不會對患者肚皮造成損傷，接著規劃腹腔內的手術縫合動作，以模擬驗證控制演算法與手術縫合動作的正確性，最後利用實驗驗證微創手術機器人應用於手術縫合動作的可行性。 | zh_TW |
| dc.description.abstract | Minimally invasive surgery (MIS) has the advantages of less bleeding and rapid postoperative recovery, which can alleviate the suffering of patients. Therefore, it has become more and more widely used in clinical use in recent years. However, MIS is more difficult than traditional open surgery, causing a greater burden on surgeons while performing surgery. Applying the robotic arm to MIS as an auxiliary role can reduce the workload of the surgeon and make the surgical procedure more precise and efficient.
This article aims to design a MIS robot system with automatic surgical suturing. First, we design the basic control architecture for the MIS robot. Under the limitation of remote center of motion, the surgical instrument was operated in the abdominal cavity without causing damage to the patient's belly. Then, plan the surgical suture motion in the abdominal cavity. Verify the correctness of the control algorithm and the surgical suture motion by simulation. Lastly, the feasibility of using MIS robot for surgical suturing is verified by experiments. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-17T07:05:14Z (GMT). No. of bitstreams: 1 ntu-108-R06522810-1.pdf: 4157278 bytes, checksum: 720128e5d5865f3e753543ba16d47319 (MD5) Previous issue date: 2019 | en |
| dc.description.tableofcontents | 論文口試委員審定書 I
誌謝 II 摘要 III Abstract IV 目錄 V 圖目錄 IX 表目錄 XII 第1章 緒論 1 1.1 研究動機 1 1.1.1 微創手術歷史發展與優點 1 1.1.2 微創手術流程 3 1.1.3 微創手術縫合困難之處 4 1.1.4 研究動機與目的 5 1.2 文獻回顧 6 1.2.1 現行微創手術機器人 6 1.2.2 微創手術機器人運動限制 9 1.3 論文架構 11 第2章 背景知識 13 2.1 引言 13 2.2 姿態描述與齊次轉換 13 2.3 正向運動學 15 2.4 逆向運動學 17 2.5 微分運動學與奇異點 17 2.5.1 賈可比矩陣 17 2.5.2 奇異點 19 2.6 機器手臂動力學 20 2.6.1 機器手臂動態方程式 20 2.6.2 基於逆動態方程式的機器手臂控制 21 2.7 卡氏座標系運動學控制 22 2.7.1 逆賈可比控制器 23 2.7.2 阻尼最小平方法 23 2.8 軌跡規劃 24 第3章 微創手術機器人分析與控制 28 3.1 引言 28 3.2 機器手臂分析 28 3.2.1 機器手臂運動學分析 28 3.2.2 機器手臂動力學分析 31 3.3 遠端運動中心限制 32 3.3.1 遠端運動中心定義 33 3.3.2 遠端運動中心運動學 34 3.4 機器手臂控制器設計 37 第4章 微創手術縫合動作 39 4.1 引言 39 4.2 持針手術夾繩索驅動手腕 39 4.3 持針手術夾正向運動學 40 4.4 持針手術夾逆向運動學 42 4.5 手術縫合動作規劃 44 4.5.1 持針手術夾路徑規劃 44 4.5.2 持針手術夾姿態規劃 47 4.6 本章小結 48 第5章 微創手術機器人系統 50 5.1 引言 50 5.2 硬體介紹 50 5.2.1 機器手臂介紹 50 5.2.2 持針手術夾介紹 52 5.3 持針手術夾驅動機構 52 5.3.1 機構設計 53 5.3.2 馬達控制 54 5.4 軟體介紹 55 5.4.1 機器人工具模擬環境 55 5.4.2 機器手臂人機介面 57 5.5 系統架構 58 第6章 模擬與實驗結果 60 6.1 引言 60 6.2 末端直線移動模擬 60 6.2.1 機器手臂動態模擬 60 6.2.1 理想動態模擬 63 6.3 微創手術縫合模擬 65 6.4 微創手術縫合實驗 70 6.5 結果討論 73 第7章 結論與未來展望 75 7.1 結論 75 7.2 未來展望 75 參考文獻 77 | |
| dc.language.iso | zh-TW | |
| dc.subject | 微創手術機器人 | zh_TW |
| dc.subject | 微創手術 | zh_TW |
| dc.subject | 遠端運動中心 | zh_TW |
| dc.subject | 手術縫合 | zh_TW |
| dc.subject | Surgical Suturing | en |
| dc.subject | MIS Robot | en |
| dc.subject | Remote Center of Motion | en |
| dc.subject | Minimally Invasive Surgery | en |
| dc.title | 微創手術機器人之縫合控制 | zh_TW |
| dc.title | Robotic suturing for minimally invasive surgery | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 107-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 陳永耀,何明志,劉書宏,葉奕良 | |
| dc.subject.keyword | 微創手術,微創手術機器人,遠端運動中心,手術縫合, | zh_TW |
| dc.subject.keyword | Minimally Invasive Surgery,MIS Robot,Remote Center of Motion,Surgical Suturing, | en |
| dc.relation.page | 82 | |
| dc.identifier.doi | 10.6342/NTU201901987 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2019-07-26 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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